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公开(公告)号：US20240391094A1
公开(公告)日：2024-11-28
申请号：US18660540
申请日：2024-05-10
Applicant: DISNEY ENTERPRISES, INC. , ETH Zürich
Inventor： Moritz Niklaus Bächer , Agon Serifi , Ruben Jelle Grandia , Lars Espen Knoop
IPC: B25J9/16
Abstract: An encoder is trained to generate latent representations of kinematic motion from motion data and a control policy is trained to generate dynamics informed output for a robotic system based on the latent representations of kinematic motion. The encoder and the control policy are deployed in the robotic system to generate the dynamics informed output based on the motion data.
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2.发明公开公开(公告)号：US20240269899A1
公开(公告)日：2024-08-15
申请号：US18110278
申请日：2023-02-15
Applicant: DISNEY ENTERPRISES, INC.
Inventor： Moritz Niklaus Bächer , Daniele Panozzo , Denis Zorin , Arvi Gjoka , Lars Espen Knoop , Christian Gabriel Schumacher
CPC classification number: B29C33/3835 , B29C39/025 , G06F30/12 , G06F30/20 , G06F2113/22
Abstract: A computer-assisted method (and a computer system implementing a design tool and skin fabricated according to these designs) for designing elastomeric skin for robots and robotic devices. The skin design tool is configured to facilitate the optimal navigation of the design space spanned by an animatronic or robotic device skin. The skin design tool includes a soft body simulator that is differentiable with respect to control and design parameters, which enables the skin design tool to provide one or more of the following applications: (1) automated identification of an optimal neutral pose for the skin that minimizes peak stresses when the skin is brought into extreme poses; (2) automated optimization of the skin thickness and shape of a skin to meet a time-varying artistic target; and (3) automated optimization of a skin to achieve a desired behavior if the skin is allowed to slide along an underlying rigid shell.
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公开(公告)号：US20250108505A1
公开(公告)日：2025-04-03
申请号：US18658153
申请日：2024-05-08
Applicant: DISNEY ENTERPRISES, INC.
Inventor： Moritz Niklaus Bächer , Georg Wiedebach , Joel Peavy , Lars Espen Knoop , Steven Pickles , Jared Edward Bishop , Ruben Jelle Grandia , Michael Anthony Hopkins
Abstract: A method of training a robotic device includes: parameterizing, via a processing element, an input to the robotic device. The parameterizing comprises defining a range of values of the input. The method further includes generating, via the processing element, a plurality of samples of the parameterized input from within the range of values; training a control policy, via the processing element. The training includes: providing the plurality of samples to the control policy, wherein the control policy is adapted to operate an actuator of the robotic device, and generating, via the processing element, a policy action using the control policy; transmitting the policy action to a robotic model, wherein the robotic model includes a physical model of the robotic device. The method further includes deploying the one or more trained control policies to an on-board controller for the robotic device.
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公开(公告)号：US20210141869A1
公开(公告)日：2021-05-13
申请号：US16678898
申请日：2019-11-08
Applicant: Disney Enterprises, Inc.
Inventor： Moritz Niklaus Bächer , Christian Hafner , Bernd Bickel , Christian Gabriel Schumacher , Lars Espen Knoop
IPC: G06F17/50
Abstract: An automated mechanical design analysis system includes a computing platform having a hardware processor and a system memory storing a software code. The hardware processor executes the software code to receive an input model of a mechanical object, identify one or more design parameter(s) of the input model for automated analysis, and perform a parametric mapping of the input model based on the design parameter(s) to produce a parameterized model corresponding to the input model. The hardware processor further executes the software code to embed the parameterized model in a grid to produce model-grid intersections defining multiple subvolumes of the parameterized model, and generate a simulation of the input model based on the model-grid intersections and the subvolumes, where the simulation of the input model provides a differentiable mathematical representation of the input model.
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公开(公告)号：US20250113140A1
公开(公告)日：2025-04-03
申请号：US18903269
申请日：2024-10-01
Applicant: DISNEY ENTERPRISES, INC.
Inventor： Michael Anthony Hopkins , Steven Pickles , Joel Peavy , Jared Edward Bishop , Moritz Niklaus Bächer , Georg Wiedebach , Ruben Jelle Grandia , Lars Espen Knoop
Abstract: A computer implemented method for generating a motion-driven sound effect includes: determining, via a processor, a mechanical characteristic of a mechanical system; modifying, via the processor, an audio clip based on the mechanical characteristic; and outputting, via the processor, the audio clip based on the mechanical characteristic.
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Patent Agency Ranking
公开(公告)号：US20240399579A1
公开(公告)日：2024-12-05
申请号：US18669623
申请日：2024-05-21
Applicant: DISNEY ENTERPRISES, INC.
Inventor： Moritz Niklaus Bächer , Christian Gabriel Schumacher , Lars Espen Knoop , Guirec G.H.F. Maloisel , Ruben Jelle Grandia
IPC: B25J9/16
Abstract: A system for designing a robotic device, includes a processor configured to: receive a target animation for a character to be represented by the robotic device; receive an initial model of the robotic device, the model including a plurality of configurable joints and a plurality of actuators; generate a kinematic design of the robotic device based on the initial model and the target animation; generate control parameters for the plurality of actuators based on the kinematic design; generate a physical design for the robotic device based on the kinematic design and the control parameters; and deploy the physical design to the robotic device.
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公开(公告)号：US20210232735A1
公开(公告)日：2021-07-29
申请号：US16776089
申请日：2020-01-29
Applicant: Disney Enterprises, Inc.
Inventor： Moritz Niklaus Bächer , Gabriela Natalia Venturini , Christian Gabriel Schumacher , Cynthia A. Marinaro , Alfredo Ayala , Lars Espen Knoop , Philip J. Jackson
IPC: G06F30/23 , G06F111/10
Abstract: A system for performing simulation-based material characterization includes a computing platform having a hardware processor and a system memory storing a software code. The hardware processor executes the software code to obtain a result of a physical test performed on a material, selects a parameterized model of the material based on the obtained result, and performs a simulation of the physical test using the parameterized model to generate a simulated result. The hardware processor further executes the software code to compare the simulated result with the obtained result of the physical test on the material, and adjusts one or more parameter value(s) of the parameterized model, based on the comparison, to improve the simulated result, and predict, after adjusting the parameter value(s), one or more characteristics of the material based on the parameterized model.
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公开(公告)号：US20240248491A1
公开(公告)日：2024-07-25
申请号：US18394287
申请日：2023-12-22
Applicant: DISNEY ENTERPRISES, INC. , ETH Zürich
Inventor： Moritz Niklaus Bächer , Farbod Farshidian , Marco Hutter , Ruben Jelle Grandia , Lars Espen Knoop , Christian Gabriel Schumacher
Abstract: Techniques for generating robotics control signals are disclosed. Movement data is received for a desired motion for a robotics device, which can include animation, motion capture, sensor data, or movement of a different robotics device. Robotics device data is received, including control data and reference points corresponding to locations on the robotics device. A correlation is determined between movement data points in the movement data and the reference points. Using the control data, a control signal is determined based on the desired motion. The control signal is based on a distance between at least one movement data point and at least one reference point. The disclosed technology can retarget motions onto under-actuated systems and without regard to differences in degrees of freedom, mass distributions, and proportions of robotics devices.
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公开(公告)号：US20240227173A1
公开(公告)日：2024-07-11
申请号：US18093761
申请日：2023-01-05
Applicant: Disney Enterprises, Inc. , ETH Zürich
Inventor： Moritz Niklaus Bächer , Christian Gabriel Schumacher , Bernhard Steffen Thomaszewski , Lars Espen Knoop , Stelian Coros , Guirec G.H.F. Maloisel
CPC classification number: B25J9/1605 , B25J9/106
Abstract: An automated design method, and corresponding computer system for implementing such a method and robot mechanism with an optimized flexible link, that is configured to optimize a desired load-displacement behavior of planar flexible-link mechanisms at expected points of interaction. To implement the new design method, a subset of rigid links of an existing rigid-link robot mechanism are replaced with flexible links, optimizing their rest configurations. The efficacy of the design approach has been proven with two fabricated prototypes of robot mechanisms, with one being adapted for grasping tasks and one being adapted for locomotion tasks.
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10.发明申请公开(公告)号：US20220134552A1
公开(公告)日：2022-05-05
申请号：US17574031
申请日：2022-01-12
Applicant: DISNEY ENTERPRISES, INC.
IPC: B25J9/16
Abstract: A system providing dynamic balancing in a robotic system. The system includes memory storing a definition of a robot and storing an input animation for the robot specifying motion of components of the robot. A simulator performs a dynamic simulation of the robot performing the input animation including modeling a first set of the components as flexible components and a second set of the components as rigid components. Each of the flexible components is coupled at opposite ends to one of the rigid components. An optimizer generates a retargeted motion for the components to provide dynamic balancing of the robot performing the retargeted motion. The optimizer generates the retargeted motion by transforming forces acting on the robot to a local contact frame rigidly moving with the robot. The optimizer generates the retargeted motion so a zero-moment point of the robot lies in a support area of the robot's feet.
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